Estudio de un modelo de robot con auto balanceo
In this undergraduate project a self-balancing robot system is studied. The study has two parts: a simulation of the dynamical behavior of the robot with several controllers and a prototype implementation. For the simulation, a number of controllers were developed and tested using a non-linear and a...
- Autores:
-
Vargas Méndez, Juan Sebastián
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2021
- Institución:
- Universidad de los Andes
- Repositorio:
- Séneca: repositorio Uniandes
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.uniandes.edu.co:1992/51626
- Acceso en línea:
- http://hdl.handle.net/1992/51626
- Palabra clave:
- Robots móviles
Sistemas de control de robots
Robótica
Control H2
Ingeniería
- Rights
- openAccess
- License
- https://repositorio.uniandes.edu.co/static/pdf/aceptacion_uso_es.pdf
| Summary: | In this undergraduate project a self-balancing robot system is studied. The study has two parts: a simulation of the dynamical behavior of the robot with several controllers and a prototype implementation. For the simulation, a number of controllers were developed and tested using a non-linear and a linearized model of the robot. The controllers are based on the state feedback theory, and they consider incrementally realistic situations, such as access to states, reconstruction of state, partial state feedback among others. Their performance is analyzed using various input signals and comparing their transient efficiency and the required control effort. Lastly, the design of a real prototype based on the model is presented, and a controller selected from the simulations was implemented and tested to examine its ability in keeping the prototype in equilibrium. |
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